Autonomous robot navigation in mixed environment
Author:
OviRush
Last Updated:
9年前
License:
Creative Commons CC BY 4.0
Abstract:
Created from portrait poster template
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\VeryHuge \color{NavyBlue} \textbf{Autonomous robot navigation in mixed environment} \color{Black}\\ % Title
%\Huge\textit{Country Update}\\[2.4cm] % Subtitle
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\huge \textbf{Avi Naftalis}\\[0.6cm] % Author(s)
\huge Advisor: Proffesor Gal Kaminka \\[0.5cm] % advisor
\huge Bar-Ilan university, department of computer science \\[0.5cm] % University/organization
%\Large \texttt{saibi-hakim@mine.kyushu-u.ac.jp} --- +81 (092) 802 3316\\
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\includegraphics[width=7cm]{ros.png}\
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%The electrical energy from renewables in Algeria contributed about 3.4\% (280 MW) in 2008 of a total power of 8.1 GWe and will reach 5\% by the year 2017 according to the Algerian Electricity and Gas Regulation Commission (CREG). The country’s target is reaching 40\% by 2030. The geothermal resources in Algeria are of low-enthalpy type. Most of these geothermal resources are located in the north of the country and generate a heat discharge of 240 MWt.
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% Introduction
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\section*{Introduction}
\begin{itemize}
\item Models of crowd behavior predict human group behavior
\item Implementing such model (SCT- Social comparison Theory) using ROS
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\section*{Project's Objectives}
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\item Gather information on other agents in environment based on
\begin{itemize}
\item speed
\item direction
\item distance
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\item Synchronize movement with similar agents
\item Move while avoiding obstacles (e.g. walls, other robots)
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\section*{Design}
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\section*{How It should Work}
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%\captionof{figure}{\color{Green} Having 2 groups of agents in the environment, the navigator should detect which one is more similar to it and move accordingly}
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\section*{ROS}
\subsection*{What is ROS?}
\begin{itemize}
\item Set of software libraries and tools to help build robot applications
\item Provides drivers, algorithms and useful tools for robotics project
\item The whole simulation is done using the ROS framework
\end{itemize}
\subsection*{Simulation on ROS framework}
\subsubsection*{Tools provided by ROS}
\begin{itemize}
\item laser sensor: added as part of robot's definition - replaces actual laser sensor
\item topics: kind of a message board for sharing data (speed, distance and direction of each agent in the environment) - replaces camera
\item world files: allows to create a costume environment
\item stage: simulator
\end{itemize}
\includegraphics[width=0.5\linewidth]{start_pos.png}\vspace{1cm}
\includegraphics[width=0.5\linewidth]{with_stats.png}\vspace{1cm}
\includegraphics[width=1\linewidth]{0.png}
\begin{itemize}
\item Left: Starting position of a stage simulation with an empty square world file
\item Right: Same simulation, showing stats (name, location and direction) of agent 0
\item Bottom: RQT-Graph - another tool of ROS, showing the frames in the simulation and the connections between them
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